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Yan, Schiller, Wilensky, Carr, and Schaefer pointed out that one of the demerits of clothoid interpolation is a jumping behavior during the deformation of the curve. This phenomenon occurs because the clothoid curve cannot have a cusp, where the curve is kinked or the direction of the curve is abruptly changed. We discuss how to introduce cusps for the log-aesthetic curve including the clothoid curve and propose to use for the representation of a curve the direction angle instead of curvature and define a new curve named τ-curve, which is defined by the direction angle of the curve.

τ-curve: introduction of cusps to aesthetic curves☆